From fd6d26f8ffe6a37533e741337f3eca9134d934c7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 15 一月 2025 10:42:59 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 134 +++++++++++++++++++++++++++++---------------
1 files changed, 89 insertions(+), 45 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
index 7b50d99..ccf9def 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
@@ -3,25 +3,20 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.Utils;
-import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
-import com.zy.acs.manager.common.exception.BusinessException;
-import com.zy.acs.manager.core.service.AvoidWaveCalculator;
-import com.zy.acs.manager.core.service.MainService;
-import com.zy.acs.manager.core.service.ThreadPoolRegulator;
-import com.zy.acs.manager.core.service.TrafficService;
-import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
-import com.zy.acs.manager.manager.entity.Agv;
-import com.zy.acs.manager.manager.entity.AgvDetail;
-import com.zy.acs.manager.manager.entity.Loc;
-import com.zy.acs.manager.manager.entity.Task;
-import com.zy.acs.manager.manager.enums.ActionStsType;
-import com.zy.acs.manager.manager.enums.LocStsType;
-import com.zy.acs.manager.manager.enums.TaskStsType;
-import com.zy.acs.manager.manager.service.*;
-import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
+import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
+import com.zy.acs.manager.common.exception.BusinessException;
+import com.zy.acs.manager.core.service.*;
+import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
+import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.ActionStsType;
+import com.zy.acs.manager.manager.enums.LocStsType;
+import com.zy.acs.manager.manager.enums.TaskStsType;
+import com.zy.acs.manager.manager.enums.TaskTypeType;
+import com.zy.acs.manager.manager.service.*;
+import com.zy.acs.manager.system.controller.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
@@ -38,7 +33,7 @@
*/
@Slf4j
@RestController
-@RequestMapping("/handler")
+@RequestMapping("/api/handler")
public class HandlerController extends BaseController {
public static final String APP_KEY = "xltys1995";
@@ -51,6 +46,8 @@
private TaskService taskService;
@Autowired
private MainService mainService;
+ @Autowired
+ private MainLockWrapService mainLockWrapService;
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
@@ -67,12 +64,14 @@
private MapDataDispatcher mapDataDispatcher;
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private PatrolService patrolService;
- @RequestMapping(value = "/publish", method = {RequestMethod.GET, RequestMethod.POST})
+ @RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
@Transactional
- public R publish(@RequestHeader String appKey,
+ public R controlAgv(@RequestHeader String appKey,
@RequestBody HandlerPublishParam param) {
- if (Cools.isEmpty(param.getAgvNo(), param.getTaskType(), appKey)) {
+ if (Cools.isEmpty(param.getAgvNo(), param.getTaskMode(), appKey)) {
return R.error();
}
if (!APP_KEY.equals(appKey)) {
@@ -101,36 +100,58 @@
}
// generate
- switch (param.getTaskType()) {
+ switch (param.getTaskMode()) {
case MOVE:
- if (Cools.isEmpty(param.getEndCode())) {
+ Code endCode = null;
+ if (!Cools.isEmpty(param.getEndCode())) {
+ endCode = codeService.getCacheById(param.getEndCode());
+ }
+ if (!Cools.isEmpty(param.getEndCodeStr())) {
+ endCode = codeService.getCacheByData(param.getEndCodeStr());
+ }
+ if (null == endCode) {
return R.error();
}
- if (null == codeService.selectByData(param.getEndCode())) {
- return R.error();
- }
- if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskType(), param.getEndCode())) {
+ if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
return R.error();
}
break;
case TO_CHARGE:
case TO_STANDBY:
- if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskType(), null)) {
+ if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
return R.error();
}
break;
case LOC_TO_LOC:
- if (Cools.isEmpty(param.getStartLocNo(), param.getEndLocNo())) {
- return R.error();
+ // oriLoc
+ Loc oriLoc = null;
+ if (!Cools.isEmpty(param.getStartLocNo())) {
+ oriLoc = locService.getById(param.getStartLocNo());
}
- Loc oriLoc = locService.selecatByLocNo(param.getStartLocNo());
+ if (!Cools.isEmpty(param.getStartLocNoStr())) {
+ oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
+ }
if (null == oriLoc) {
return R.error();
}
- Loc destLoc = locService.selecatByLocNo(param.getEndLocNo());
+ if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 涓嶆槸鍦ㄥ簱鐘舵��");
+ }
+ // destLoc
+ Loc destLoc = null;
+ if (!Cools.isEmpty(param.getEndLocNo())) {
+ destLoc = locService.getById(param.getEndLocNo());
+ }
+ if (!Cools.isEmpty(param.getEndLocNoStr())) {
+ destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
+ }
if (null == destLoc) {
return R.error();
}
+ if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 涓嶆槸绌洪棽鐘舵��");
+ }
+
// task
Task task = new Task();
@@ -140,9 +161,11 @@
task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
task.setOriLoc(oriLoc.getId());
+ task.setOriCode(oriLoc.getCode());
task.setDestLoc(destLoc.getId());
+ task.setDestCode(destLoc.getCode());
- task.setTaskType(param.getTaskType().val());
+ task.setTaskType(param.getTaskMode().val());
task.setTaskSts(TaskStsType.WAITING.val());
task.setPriority(999);
@@ -153,26 +176,16 @@
}
// loc
- oriLoc = locService.getById(task.getOriLoc());
- if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 涓嶆槸鍦ㄥ簱鐘舵��");
- }
oriLoc.setLocSts(LocStsType.PAKOUT.val());
oriLoc.setUpdateTime(now);
if (!locService.updateById(oriLoc)) {
throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
- }
-
- destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 涓嶆槸绌洪棽鐘舵��");
}
destLoc.setLocSts(LocStsType.PAKIN.val());
destLoc.setUpdateTime(now);
if (!locService.updateById(destLoc)) {
throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
}
-
break;
default:
break;
@@ -181,9 +194,8 @@
return R.ok();
}
- @RequestMapping(value = "/reset", method = {RequestMethod.GET, RequestMethod.POST})
- public R reset(@RequestHeader String appKey,
- @RequestBody HandlerPublishParam param) {
+ @RequestMapping(value = "/restore/agv", method = {RequestMethod.GET, RequestMethod.POST})
+ public R restoreAgv(@RequestHeader String appKey, @RequestBody HandlerPublishParam param) {
if (Cools.isEmpty(appKey)) {
return R.error();
}
@@ -194,6 +206,18 @@
Agv agv = null;
if (!Cools.isEmpty(param.getAgvNo())) {
agv = agvService.selectByUuid(param.getAgvNo());
+ List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
+ if (!Cools.isEmpty(tasks)) {
+ for (Task task : tasks) {
+ if (TaskTypeType.LOC_TO_LOC.toString().equals(task.getTaskTypeEl())
+ || TaskTypeType.LOC_TO_STA.toString().equals(task.getTaskTypeEl())
+ || TaskTypeType.STA_TO_LOC.toString().equals(task.getTaskTypeEl())
+ || TaskTypeType.STA_TO_STA.toString().equals(task.getTaskTypeEl())
+ ) {
+ return R.error("Restore Failed, because the agv has Tasks that are associated with Loc!");
+ }
+ }
+ }
}
if (null != agv) {
@@ -230,6 +254,8 @@
return R.error();
}
+ Agv agv = agvService.selectByUuid(param.getAgvNo());
+
// block
// Future<R> future = threadPoolRegulator.getInstance().submit(() -> {
// mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
@@ -240,6 +266,7 @@
// non-block
CompletableFuture<?> completableFuture = CompletableFuture.supplyAsync(() -> {
mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
+ avoidWaveCalculator.calcDynamicNodeByVehicle(agv, null);
return R.ok();
}, threadPoolRegulator.getInstance());
@@ -253,4 +280,21 @@
return R.ok();
}
+ @RequestMapping(value = "/agv/patrol", method = {RequestMethod.GET, RequestMethod.POST})
+ public R agvPatrol(@RequestHeader String appKey,
+ @RequestBody HandlerPublishParam param) throws ExecutionException, InterruptedException {
+ if (Cools.isEmpty(param.getAgvNo(), appKey)) {
+ return R.error();
+ }
+ if (!APP_KEY.equals(appKey)) {
+ return R.error();
+ }
+ String agvNo = param.getAgvNo();
+ if (patrolService.isPatrolling(agvNo)) {
+ return patrolService.shutdownPatrol(agvNo);
+ } else {
+ return patrolService.startupPatrol(agvNo);
+ }
+ }
+
}
--
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